A combination feedback system of nonlinear observer and energy-based control
一种非线性观测器和能量结合的反馈控制系统

According to the separation principle of the high gain observer and state feedback control, we propose a feedback control system based on the estimated states. In a vertical underactuated translational oscillator with nonlinear rotating actuator, we choose a proper gain to make the observed values converge rapidly to the state values, and choose an appropriate Lyapunov function based on the system energy to ensure the asymptotic stability for the feedback system. System analysis and simulation results show that the method proposed is better than the method based on nonlinear observer and sliding model in dynamics, and it is easier to be implemented in engineering.